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Merge remote-tracking branch 'origin/mueller/ipc-updates' into mueller/MQMQ_IF_UpdateFreeRTOS

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This commit is contained in:
Robin Müller 2020-09-26 14:33:35 +02:00
commit eec022f801
15 changed files with 658 additions and 654 deletions
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1
action/ActionHelper.cpp
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@ -1,5 +1,6 @@
#include "ActionHelper.h"
#include "HasActionsIF.h"
#include "../ipc/MessageQueueSenderIF.h"
#include "../objectmanager/ObjectManagerIF.h"
ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) :

2
datalinklayer/MapPacketExtraction.cpp
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@ -18,7 +18,7 @@ MapPacketExtraction::MapPacketExtraction(uint8_t setMapId,
object_id_t setPacketDestination) :
lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId), packetLength(0), bufferPosition(
packetBuffer), packetDestination(setPacketDestination), packetStore(
NULL), tcQueueId(MessageQueueSenderIF::NO_QUEUE) {
NULL), tcQueueId(MessageQueueIF::NO_QUEUE) {
memset(packetBuffer, 0, sizeof(packetBuffer));
}

7
ipc/CommandMessage.h
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@ -8,7 +8,7 @@
/**
* @brief Default command message used to pass command messages between tasks.
* Primary message type for IPC. Contains sender, 2-byte command ID
* field, and 2 4-byte parameters.
* field, and 3 4-byte parameter
* @details
* It operates on an external memory which is contained inside a
* class implementing MessageQueueMessageIF by taking its address.
@ -23,10 +23,11 @@
class CommandMessage: public MessageQueueMessage, public CommandMessageIF {
public:
/**
* Default size can accomodate 2 4-byte parameters.
* Default size can accomodate 3 4-byte parameters.
*/
static constexpr size_t DEFAULT_COMMAND_MESSAGE_SIZE =
CommandMessageIF::MINIMUM_COMMAND_MESSAGE_SIZE + sizeof(uint32_t);
CommandMessageIF::MINIMUM_COMMAND_MESSAGE_SIZE +
3 * sizeof(uint32_t);
/**
* @brief Default Constructor, does not initialize anything.

10
ipc/MessageQueueIF.h
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@ -1,15 +1,15 @@
#ifndef FRAMEWORK_IPC_MESSAGEQUEUEIF_H_
#define FRAMEWORK_IPC_MESSAGEQUEUEIF_H_
#ifndef FSFW_IPC_MESSAGEQUEUEIF_H_
#define FSFW_IPC_MESSAGEQUEUEIF_H_
// COULDDO: We could support blocking calls
#include "messageQueueDefinitions.h"
#include "MessageQueueMessage.h"
#include "MessageQueueSenderIF.h"
#include "../returnvalues/HasReturnvaluesIF.h"
class MessageQueueIF {
public:
static const MessageQueueId_t NO_QUEUE = MessageQueueSenderIF::NO_QUEUE; //!< Ugly hack.
static const MessageQueueId_t NO_QUEUE = 0;
static const uint8_t INTERFACE_ID = CLASS_ID::MESSAGE_QUEUE_IF;
/**

1
ipc/MessageQueueMessage.h
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@ -2,7 +2,6 @@
#define FSFW_IPC_MESSAGEQUEUEMESSAGE_H_
#include "../ipc/MessageQueueMessageIF.h"
#include "../ipc/MessageQueueSenderIF.h"
#include <cstddef>
/**

17
ipc/MessageQueueMessageIF.h
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@ -1,24 +1,13 @@
#ifndef FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_
#define FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_
#include <fsfw/ipc/messageQueueDefinitions.h>
#include <cstddef>
#include <cstdint>
/*
* TODO: Actually, the definition of this ID to be a uint32_t is not ideal and
* breaks layering. However, it is difficult to keep layering, as the ID is
* stored in many places and sent around in MessageQueueMessage.
* Ideally, one would use the (current) object_id_t only, however, doing a
* lookup of queueIDs for every call does not sound ideal.
* In a first step, I'll circumvent the issue by not touching it,
* maybe in a second step. This also influences Interface design
* (getCommandQueue) and some other issues..
*/
typedef uint32_t MessageQueueId_t;
class MessageQueueMessageIF {
public:
static const MessageQueueId_t NO_QUEUE = -1;
/**
* @brief This constants defines the size of the header,
* which is added to every message.

29
ipc/MessageQueueSenderIF.h
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@ -1,37 +1,26 @@
#ifndef FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_
#define FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_
#ifndef FSFW_IPC_MESSAGEQUEUESENDERIF_H_
#define FSFW_IPC_MESSAGEQUEUESENDERIF_H_
#include "../ipc/MessageQueueIF.h"
#include "../ipc/MessageQueueMessageIF.h"
#include "../objectmanager/ObjectManagerIF.h"
class MessageQueueMessage;
//TODO: Actually, the definition of this ID to be a uint32_t is not ideal and breaks layering.
//However, it is difficult to keep layering, as the ID is stored in many places and sent around in
//MessageQueueMessage.
//Ideally, one would use the (current) object_id_t only, however, doing a lookup of queueIDs for every
//call does not sound ideal.
//In a first step, I'll circumvent the issue by not touching it, maybe in a second step.
//This also influences Interface design (getCommandQueue) and some other issues..
typedef uint32_t MessageQueueId_t;
class MessageQueueSenderIF {
public:
static const MessageQueueId_t NO_QUEUE = 0;
virtual ~MessageQueueSenderIF() {}
/**
* Allows sending messages without actually "owing" a message queue.
* Allows sending messages without actually "owning" a message queue.
* Not sure whether this is actually a good idea.
* Must be implemented by a subclass.
*/
static ReturnValue_t sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom =
MessageQueueSenderIF::NO_QUEUE, bool ignoreFault=false);
MessageQueueMessage* message,
MessageQueueId_t sentFrom = MessageQueueIF::NO_QUEUE,
bool ignoreFault = false);
private:
MessageQueueSenderIF() {}
};
#endif /* FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_ */
#endif /* FSFW_IPC_MESSAGEQUEUESENDERIF_H_ */

19
ipc/messageQueueDefinitions.h Normal file
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@ -0,0 +1,19 @@
#ifndef FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_
#define FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_
#include <cstdint>
/*
* TODO: Actually, the definition of this ID to be a uint32_t is not ideal and
* breaks layering. However, it is difficult to keep layering, as the ID is
* stored in many places and sent around in MessageQueueMessage.
* Ideally, one would use the (current) object_id_t only, however, doing a
* lookup of queueIDs for every call does not sound ideal.
* In a first step, I'll circumvent the issue by not touching it,
* maybe in a second step. This also influences Interface design
* (getCommandQueue) and some other issues..
*/
using MessageQueueId_t = uint32_t;
#endif /* FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_ */

8
modes/ModeHelper.cpp
View File

@ -36,7 +36,7 @@ ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* message) {
commandedMode = mode;
commandedSubmode = submode;
if ((parentQueueId != MessageQueueSenderIF::NO_QUEUE)
if ((parentQueueId != MessageQueueIF::NO_QUEUE)
&& (theOneWhoCommandedAMode != parentQueueId)) {
owner->setToExternalControl();
}
@ -74,7 +74,7 @@ ReturnValue_t ModeHelper::initialize(MessageQueueId_t parentQueueId) {
void ModeHelper::modeChanged(Mode_t mode, Submode_t submode) {
forced = false;
CommandMessage reply;
if (theOneWhoCommandedAMode != MessageQueueSenderIF::NO_QUEUE) {
if (theOneWhoCommandedAMode != MessageQueueIF::NO_QUEUE) {
if ((mode != commandedMode) || (submode != commandedSubmode)) {
ModeMessage::setModeMessage(&reply,
ModeMessage::REPLY_WRONG_MODE_REPLY, mode, submode);
@ -86,12 +86,12 @@ void ModeHelper::modeChanged(Mode_t mode, Submode_t submode) {
owner->getCommandQueue());
}
if (theOneWhoCommandedAMode != parentQueueId
&& parentQueueId != MessageQueueSenderIF::NO_QUEUE) {
&& parentQueueId != MessageQueueIF::NO_QUEUE) {
ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_INFO, mode,
submode);
MessageQueueSenderIF::sendMessage(parentQueueId, &reply, owner->getCommandQueue());
}
theOneWhoCommandedAMode = MessageQueueSenderIF::NO_QUEUE;
theOneWhoCommandedAMode = MessageQueueIF::NO_QUEUE;
}
void ModeHelper::startTimer(uint32_t timeoutMs) {

10
osal/linux/QueueFactory.cpp
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@ -1,8 +1,14 @@
#include "../../ipc/QueueFactory.h"
#include "MessageQueue.h"
#include "../../ipc/messageQueueDefinitions.h"
#include "../../ipc/MessageQueueSenderIF.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include <mqueue.h>
#include <errno.h>
#include "MessageQueue.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include <cstring>
QueueFactory* QueueFactory::factoryInstance = nullptr;